EP1026818B1 - Regulateur de vitesse de moteur et procede permettant de regler le gain dudit regulateur - Google Patents

Regulateur de vitesse de moteur et procede permettant de regler le gain dudit regulateur Download PDF

Info

Publication number
EP1026818B1
EP1026818B1 EP98947914A EP98947914A EP1026818B1 EP 1026818 B1 EP1026818 B1 EP 1026818B1 EP 98947914 A EP98947914 A EP 98947914A EP 98947914 A EP98947914 A EP 98947914A EP 1026818 B1 EP1026818 B1 EP 1026818B1
Authority
EP
European Patent Office
Prior art keywords
speed
gain
proportional
controlling
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP98947914A
Other languages
German (de)
English (en)
Other versions
EP1026818A1 (fr
EP1026818A4 (fr
Inventor
Yasuhiko K.K. Yaskawa Denki KAKU
Takashi K.K. Yaskawa Denki KITAZAWA
Tadashi K.K. Yaskawa Denki OKUBO
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Yaskawa Electric Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp, Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Corp
Publication of EP1026818A1 publication Critical patent/EP1026818A1/fr
Publication of EP1026818A4 publication Critical patent/EP1026818A4/fr
Application granted granted Critical
Publication of EP1026818B1 publication Critical patent/EP1026818B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S388/00—Electricity: motor control systems
    • Y10S388/90—Specific system operational feature
    • Y10S388/906—Proportional-integral system

Definitions

  • the present invention is directed to a motor speed controller that enables a quick response, and a gain setting method of the controller.
  • a speed controller of an electric motor may be used for not only making a following action to a speed command but also making a high-speed positioning action by adding a position controlling loop outside a speed loop. It is essential that the speed controlling system is able to follow a speed command at a high speed and high accuracy.
  • a method for passing a speed-detected output through a low-pass filter to decrease noise is considered in order to smoothen the torque waveform, wherein since the allowance in stability of the control loop is damaged by an increase in phase delay, the proportional gain of the speed-controlling system cannot be increased, and the response characteristics cannot be improved.
  • Japanese Patent Application No. 12785 of 1994 (Laid-Open Patent Publication No. 337057 of 1995) and Japanese Patent Application No. 233528 of 1995 (Laid-Open Patent Publication No. 56183 of 1997) exist as a means for increasing the proportional gain of the speed-controlling system, which drives a mechanism system influenced by mechanical resonance elements, with allowance in stability of the control loop secured.
  • a control structure consisting of an equivalent rigid body observer, low-pass filter, high-pass filter and vibration controlling gain is added to the speed-controlling system.
  • a motor speed controller having a control structure by which the number of parameters to be adjusted may be reduced, and the proportional gain of the speed controlling system is increased, in a speed controlling system in which an equivalent rigid body observer (observer) is incorporated, and steps for adjusting so as to easily accelerate the speed response in the controlling system.
  • a motor speed controller comprising:
  • a gain setting method for the controller is featured in repeating the steps of taking the band setting coefficient to a predetermined value; increasing the proportional gain of a proportional operating means of the speed controlling means immediately up to the limit of oscillation of the speed controlling system; changing the band setting coefficient to a lower value than the predetermined value; and increasing the proportional gain of the proportional operating means of the speed controlling means immediately up to the limit of oscillation.
  • FIG. 1 is a block diagram showing the principle of a speed controller which will be the base of a motor speed controller, according to the invention.
  • output of the equivalent rigid body model 111 of the equivalent rigid body observer 110 is fed back to the speed controlling system as a detected speed, whereby it is possible to construct a speed controlling system to which an equivalent rigid body observer is annexed using speed as an output.
  • a stabilization compensator 112 of the observer can be expressed in terms of the following equation (1).
  • Speed controlling means 103 in FIG. 1 (a) may receive inputs of a speed command and speed feedback and may output the torque of a motor, wherein no regulation is required in terms of structure.
  • respective control structures such as proportional control, proportional plus integral control and integral plus proportional control are illustrated in FIG. 2(a), FIG. 2(b) and FIG. 2(c).
  • FIG. (a) is further deformed in the order of (a), (b) and (c), and it can be found that the speed feedback pass can be divided into two equivalent feedback loops (outside and inside).
  • the inside equivalent feedback loop in FIG.1(c) may be further deformed as in FIG.1(d).
  • a transmission function Gout (s) of the block of the outside equivalent feedback loop becomes the following expression (3).
  • C f (s) s + C f (s) 2 ⁇ s ⁇ s s + ⁇ s 2 s 2 + 2 ⁇ s ⁇ s s + ⁇ s 2
  • the block of Gout(s) is a low-pass filter.
  • stabilization of the speed controlling system depends on the phase characteristics of high harmonic bands of a controlling loop, and constant characteristics such as disturbance suppressing capacity depends on the gain characteristics of a low frequency band of the controlling loop.
  • the frequency band of a low-pass filter and a high-pass filter in the controlling loop is set to be lower than the target band in the speed controlling loop (by setting of ⁇ s )
  • the stability of controlling loop is determined by the inside loop
  • the constant characteristics are determined by the outside loop. Since the inside loop does not pass through the mechanical resonance element R(s), the band of the high-pass filter is set to an optimal value by ⁇ s , whereby the speed loop gain can be increased, and the target response characteristics of the speed controlling system can be improved.
  • the present invention positively utilizes the inside and outside loops, and ⁇ s is determined by the following expression (6) using a band setting coefficient ⁇ in order to improve the response characteristics of a speed loop.
  • ⁇ s ⁇ K v
  • ⁇ is determined by the following expression (7).
  • the frequency band of the observer can be automatically set lower than the band (which is mostly determined by the speed loop gain Kv) being the target in the speed controlling loop, whereby it is possible to construct a controlling structure which can improve the response characteristics.
  • the observer ⁇ s may be set to a suitable value from 0.7 through 2.0.
  • the abovementioned ⁇ is set to a suitable value in a range from 0.01 through 1.00, taking into consideration the rigidity of the machine, mechanical resonance frequency, and the target of the speed controlling system, etc. If the ⁇ is any value other than zero (0), the controlling system is stabilized, and the ⁇ can be set independently from setting of parameters of the stabilizing compensator of the speed controlling system, whereby the setting of parameters can be facilitated.
  • FIG. 3 is a block linear diagram pertaining to a motor speed controller of the invention and a gain setting method of the controller.
  • the motor speed controller 1 is a speed controlling system consisting of a torque controller 11, which has an electric motor (not illustrated) and a means for controlling the torque thereof, a stabilizing compensator 12, and an inertia compensating gain 13.
  • 10 indicates an equivalent rigid body
  • J in the block indicates is the total inertia of the motor and load mechanism
  • Do is the viscos friction of the motor and load mechanism
  • 14 indicates a mechanical resonance system.
  • the abovementioned stabilizing compensator 12 receives the input of a speed command signal and a speed feedback signal and detects an acceleration signal. A torque command signal is outputted with the acceleration signal multiplied by an inertia compensation gain 13.
  • the stabilizing compensator 12 is constructed of a subtraction block for subtracting a speed feedback signal from the speed command signal, and a proportional calculation element, and where the speed controlling system is constructed of proportional plus integral control (PI control), it is constructed of the abovementioned subtraction block, a proportional element and an integration element.
  • P control proportional control
  • PI control proportional plus integral control
  • the stabilizing compensator is also composed of the abovementioned subtraction block, a proportional element, and an integral element.
  • the proportional gain is Kv.
  • the torque controller 11 receives inputs of the torque command signals, controls the torque of a motor, and outputs a speed signal of the motor.
  • a speed signal of the motor Where the motor is provided with only an angle sensor, an angular velocity signal can be obtained by a differential calculation of the detected angle, and this signal can be outputted as a detected speed signal.
  • the equivalent rigid body observer 2 which is applied as a speed observer consists of an equivalent rigid body model 21, an inertia model 22 defined by the total inertia composed of an inertia of a motor and an inertia of a load, and a stabilizing compensator 23 of the observer.
  • the stabilizing compensation 23 of the observer is composed of a proportional calculation means 231 being the first compensating means, and an integral calculation means 232 being the second compensating means.
  • the gain of the proportional calculation means 231 is defined by the product which is two times the product of ⁇ s being the first gain and ⁇ s being the second gain, and the gain of the integral calculation means is defined by the square of ⁇ s .
  • ⁇ s is an attenuation constant of the observer.
  • the frequency band ⁇ s of the observer is defined by the product of a band setting coefficient ⁇ and a proportional gain Kv of the speed controlling system.
  • FIG. 4 is an explanatory view showing the results of a computer simulation in a preferred embodiment, shown in FIG. 3, of a motor speed controller and a gain setting method of the controller according to the invention.
  • the speed controlling system is made into a proportional system and the speed command is of linear acceleration waveform.
  • the band setting coefficient ( ⁇ ) is determined at 10%, and as in the description of the principle of the invention, it is found that the stability of control has been recovered by lowering the band setting coefficient.
  • the speed controlling means Since in the speed controlling means oscillation is quickly attenuated, it can be used as a speed controller. In this case, it is found that the performance following speed commands has been remarkably improved in comparison with the case shown in FIG. 4(a).
  • the proportional gain (Kv) of the speed controlling means is easily increased three times, wherein it can be understood that the object of the invention has been sufficiently achieved.
  • the number of parameters to be adjusted is only one, that is, only the band setting coefficient, in addition to control parameters to be adjusted as the speed controller (In the prior arts, at least two parameters were required).
  • the present invention is applicable where the proportional gain is increased while suppressing mechanical resonance, and the ability to follow high speed commands is required.

Claims (2)

  1. Régulateur de vitesse de moteur comprenant :
    un moyen de régulation de vitesse comportant un moyen d'opération proportionnelle, qui régule la vitesse angulaire d'un moteur ;
    un modèle de corps rigide équivalent modélisé dans un système de retard du premier ordre dans lequel un visco frottement est effectué en une constante de temps ;
    un premier moyen de compensation pour effectuer une opération proportionnelle ;
    un second moyen de compensation pour effectuer une opération d'intégration ;
    un moyen pour additionner des signaux de couple d'un moteur, sorti depuis le moyen de régulation de vitesse, sorti du premier moyen de compensation et sorti du second moyen de compensation, entrant la somme de ceux-ci dans le modèle de corps rigide équivalent, et pour entrer un signal différentiel obtenu en soustrayant la sortie du modèle de corps rigide équivalent des signaux de vitesse du moyen de régulation de vitesse dans les premier et second moyens de compensation ; et
    un moyen qui définit un gain proportionnel du premier moyen de compensation en termes de produit du premier gain (ζs) et du second gain (ωs), définit une intégration du second moyen de compensation en termes d'un carré du second gain, multiplie le gain proportionnel (Kv) du moyen d'opération proportionnelle du moyen de régulation de vitesse par un coefficient d'établissement de bande (α) établi à l'avance et fait qu'il renvoie une entrée de contre-réaction au second gain (ωs),
       dans lequel la sortie du modèle de corps rigide équivalent est effectuée en une entrée de contre-réaction vers le moyen de régulation de vitesse comme vitesse détectée.
  2. Procédé d'établissement de gain d'un régulateur de vitesse de moteur selon la revendication 1, comprenant les étapes consistant à :
    établir ledit coefficient d'établissement de bande à une valeur prédéterminée ;
    augmenter un gain proportionnel du moyen d'opération proportionnelle du moyen de régulation de vitesse immédiatement jusqu'à la limite d'oscillation du système de régulation de vitesse ;
    changer le coefficient d'établissement de bande à une valeur plus faible que la valeur prédéterminée ;
    augmenter le gain proportionnel du moyen d'opération proportionnelle du moyen de régulation de vitesse immédiatement jusqu'à la limite d'oscillation, et
    répéter lesdites étapes.
EP98947914A 1997-10-24 1998-10-15 Regulateur de vitesse de moteur et procede permettant de regler le gain dudit regulateur Expired - Lifetime EP1026818B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP29288397A JP3900219B2 (ja) 1997-10-24 1997-10-24 電動機速度制御装置および同装置のゲイン設定方法
JP29288397 1997-10-24
PCT/JP1998/004694 WO1999022441A1 (fr) 1997-10-24 1998-10-15 Regulateur de vitesse de moteur et procede permettant de regler le gain dudit regulateur

Publications (3)

Publication Number Publication Date
EP1026818A1 EP1026818A1 (fr) 2000-08-09
EP1026818A4 EP1026818A4 (fr) 2001-09-12
EP1026818B1 true EP1026818B1 (fr) 2002-12-11

Family

ID=17787621

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98947914A Expired - Lifetime EP1026818B1 (fr) 1997-10-24 1998-10-15 Regulateur de vitesse de moteur et procede permettant de regler le gain dudit regulateur

Country Status (7)

Country Link
US (1) US6252369B1 (fr)
EP (1) EP1026818B1 (fr)
JP (1) JP3900219B2 (fr)
KR (1) KR100545035B1 (fr)
CN (1) CN1139180C (fr)
DE (1) DE69810150T2 (fr)
WO (1) WO1999022441A1 (fr)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW412669B (en) * 1998-09-28 2000-11-21 Yaskawa Denki Seisakusho Kk Position control apparatus
US6784632B2 (en) 2000-05-15 2004-08-31 Kabushiki Kaisha Yaskawa Denki Positioning servo controller
JP3835528B2 (ja) * 2001-07-19 2006-10-18 株式会社安川電機 速度制御装置
CN1307782C (zh) * 2002-03-20 2007-03-28 株式会社安川电机 控制常数调整装置
US6844693B2 (en) * 2002-03-29 2005-01-18 Matsushita Electric Industrial Co., Ltd. Position control apparatus for motor
JP3850363B2 (ja) * 2002-10-21 2006-11-29 山洋電気株式会社 モータの位置制御装置
JP4720151B2 (ja) * 2004-11-16 2011-07-13 株式会社安川電機 リニアモータ制御装置
CN101454969B (zh) * 2006-05-26 2011-03-02 株式会社安川电机 伺服控制装置
JP2008029177A (ja) * 2006-07-25 2008-02-07 Ricoh Co Ltd 半導体装置
WO2008075558A1 (fr) * 2006-12-21 2008-06-26 Kabushiki Kaisha Yaskawa Denki Dispositif de commande de position
US8328523B2 (en) * 2007-12-14 2012-12-11 Itt Manufacturing Enterprises, Inc. Synchronous torque balance in multiple pump systems
JP2010055470A (ja) * 2008-08-29 2010-03-11 Fuji Electric Systems Co Ltd 機械制御装置
JP5369225B1 (ja) * 2012-06-22 2013-12-18 ファナック株式会社 アンプ保護機能を備えた同期電動機の制御装置及び制御方法
JP6353731B2 (ja) * 2014-08-04 2018-07-04 日本電産サンキョー株式会社 モータシステム
KR101734718B1 (ko) * 2015-12-14 2017-05-11 현대자동차주식회사 전동식 파워 스티어링용 모터의 외란 보상 시스템
CN106406093B (zh) * 2016-10-12 2019-10-11 闽江学院 超声波电机伺服控制系统不对称滞回补偿控制装置
CN106553563B (zh) * 2016-12-06 2019-06-25 广东高标电子科技有限公司 一种电动车的控制方法及装置
JP7044177B2 (ja) * 2018-12-21 2022-03-30 株式会社島津製作所 材料試験機、及び材料試験機の制御方法
CN111782049B (zh) * 2020-07-02 2023-12-01 瑞声科技(新加坡)有限公司 马达应用频率带宽的评估方法及设备、存储介质

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4733149A (en) * 1985-05-31 1988-03-22 Kollmorgen Technologies Corporation Adaptive control system
US4821168A (en) * 1985-10-15 1989-04-11 Matsushita Electric Industrial Co., Ltd. Control system with improved robustness to disturbances
US5223778A (en) * 1992-09-16 1993-06-29 Allen-Bradley Company, Inc. Automatic tuning apparatus for PID controllers
US5384526A (en) * 1993-07-13 1995-01-24 Wangdat, Inc. PI or PID control loop with self-limiting integrator
JP3372635B2 (ja) * 1994-03-14 2003-02-04 キヤノン株式会社 制御装置
JP3360935B2 (ja) 1994-06-09 2003-01-07 株式会社安川電機 電動機制御系における機械共振検出装置及び制振制御装置
JP3296527B2 (ja) * 1994-08-05 2002-07-02 株式会社安川電機 モータ速度制御装置
JP3203989B2 (ja) * 1994-10-25 2001-09-04 松下電器産業株式会社 モータの速度制御装置
JP3189865B2 (ja) * 1995-08-18 2001-07-16 株式会社安川電機 機械振動検出装置および制振制御装置

Also Published As

Publication number Publication date
US6252369B1 (en) 2001-06-26
CN1283324A (zh) 2001-02-07
DE69810150T2 (de) 2003-09-25
WO1999022441A1 (fr) 1999-05-06
EP1026818A1 (fr) 2000-08-09
KR100545035B1 (ko) 2006-01-24
KR20010031347A (ko) 2001-04-16
DE69810150D1 (de) 2003-01-23
JP3900219B2 (ja) 2007-04-04
JPH11136983A (ja) 1999-05-21
CN1139180C (zh) 2004-02-18
EP1026818A4 (fr) 2001-09-12

Similar Documents

Publication Publication Date Title
EP1026818B1 (fr) Regulateur de vitesse de moteur et procede permettant de regler le gain dudit regulateur
US8120302B2 (en) Servo control apparatus
EP0713287B1 (fr) Stabilisateur de système d'alimentation pour générateur
US8040098B2 (en) Position controller
US9164005B2 (en) Dynamometer system
US7638965B2 (en) Motor control apparatus
US7107127B2 (en) Computationally efficient means for optimal control with control constraints
US9798295B2 (en) Motor controller having a function of suppressing vibrations
US5506930A (en) Control apparatus for a variable speed motor
Ellis et al. Cures for low-frequency mechanical resonance in industrial servo systems
CN108336940B (zh) 电动机控制装置
JP5017984B2 (ja) サーボ制御装置とその速度追従制御方法
US5410228A (en) Method and apparatus for suppressing torsional vibration in an electric motor speed control system
JP2850075B2 (ja) 可変構造制御方法
CN102686358B (zh) 用于根据材料重量优化加工性能的传动轴控制方法
JP2737064B2 (ja) 制御装置
JP2774893B2 (ja) 位置決め装置
JP3303566B2 (ja) 共振比制御による２慣性共振系の振動抑制装置
KR102228592B1 (ko) H∞ 제어에 의한 파동 기어 장치를 구비한 액추에이터의 위치결정 제어장치
KR102276198B1 (ko) 서보 시스템의 난제성 진동 제어 장치 및 방법
KR100794893B1 (ko) 모터 제어 장치
JP2005328607A (ja) モータ制御装置
JP2736056B2 (ja) 電動機の速度制御装置
JP3016521B2 (ja) 電動機制御装置
JPS60148392A (ja) 電動機の回転制御装置

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20000417

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): DE GB SE

A4 Supplementary search report drawn up and despatched

Effective date: 20010730

AK Designated contracting states

Kind code of ref document: A4

Designated state(s): DE GB SE

GRAG Despatch of communication of intention to grant

Free format text: ORIGINAL CODE: EPIDOS AGRA

17Q First examination report despatched

Effective date: 20020226

GRAG Despatch of communication of intention to grant

Free format text: ORIGINAL CODE: EPIDOS AGRA

GRAH Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOS IGRA

GRAH Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOS IGRA

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): DE GB SE

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REF Corresponds to:

Ref document number: 69810150

Country of ref document: DE

Date of ref document: 20030123

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20030912

REG Reference to a national code

Ref country code: GB

Ref legal event code: 746

Effective date: 20050407

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 20081022

Year of fee payment: 11

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20081015

Year of fee payment: 11

EUG Se: european patent has lapsed
PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20091015

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20091016

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20161011

Year of fee payment: 19

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 69810150

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180501